关键词: 免疫反馈, 实时仿真, 推力器控制, 自治水下机器人

Abstract: The thruster is the crucial factor of an underwater vehicle system, because its thrust modeling and control is the core of underwater vehicle control and simulation. With a view to the drawbacks of thrust real-time response and anti-jamming capability of simplified thruster control model of Autonomous underwater vehicle, an artificial immune feedback based thrust control method of thruster is presented. This method has a good real-time performance and robustness without the difficulty of carrying out hydro-dynamic experiment and theory calculation. It can provide methods for motion control, state response and control exploitation of AUV. Aimed at a streamlined AUV prototype named CRanger-2, the immune feedback mechanism is used to control the thrust of thrusters based on the analysis of the simplified thrust model by the creation of thrust real-time debugging system. Then the thrust output response curve is obtained according to different thrust input and interference signals through simulation analysis of thrust control. By the control and verification test of brushless DC motor, the result demonstrates that the method can control the thruster’s thrust effectively and can provide a reference for engineering practice.

Key words: Autonomous underwater vehicle, Immune feedback, Real-time simulation, Thruster control